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<div class="header">
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<div class="title">time.h</div>  </div>
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<a href="common_2time_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_TIME_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_TIME_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifdef __GNUC__</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#pragma GCC system_header </span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;queue&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#ifndef Q_MOC_RUN</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;boost/date_time/posix_time/posix_time.hpp&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_stop_watch.html">   65</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_stop_watch.html">StopWatch</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_stop_watch.html#aa64df4925570c287b90526cc256b10a0">   69</a></span>&#160;      <a class="code" href="classpcl_1_1_stop_watch.html#aa64df4925570c287b90526cc256b10a0">StopWatch</a> () : start_time_ (boost::posix_time::microsec_clock::local_time ())</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_stop_watch.html#a4e0614b397b99979ad45a18e89beeab4">   74</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_stop_watch.html#a4e0614b397b99979ad45a18e89beeab4">~StopWatch</a> () {}</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_stop_watch.html#aa3250eecfdc5e97ae867aabdc1b5d7d2">   78</a></span>&#160;      <a class="code" href="classpcl_1_1_stop_watch.html#aa3250eecfdc5e97ae867aabdc1b5d7d2">getTime</a> ()</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        boost::posix_time::ptime end_time = boost::posix_time::microsec_clock::local_time ();</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (((end_time - start_time_).total_milliseconds ())));</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_stop_watch.html#a13f07f01df8ea1feb8d7d5fe3a0d22eb">   86</a></span>&#160;      <a class="code" href="classpcl_1_1_stop_watch.html#a13f07f01df8ea1feb8d7d5fe3a0d22eb">getTimeSeconds</a> ()</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_stop_watch.html#aa3250eecfdc5e97ae867aabdc1b5d7d2">getTime</a> () * 0.001f);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_stop_watch.html#a6959d550a6aa1e163ae572f37417bca5">   93</a></span>&#160;      <a class="code" href="classpcl_1_1_stop_watch.html#a6959d550a6aa1e163ae572f37417bca5">reset</a> ()</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        start_time_ = boost::posix_time::microsec_clock::local_time ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      boost::posix_time::ptime start_time_;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  };</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_scope_time.html">  117</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_scope_time.html">ScopeTime</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_stop_watch.html">StopWatch</a></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_scope_time.html">ScopeTime</a> (<span class="keyword">const</span> <span class="keywordtype">char</span>* title) : </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        title_ (std::string (title))</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        start_time_ = boost::posix_time::microsec_clock::local_time ();</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_scope_time.html">ScopeTime</a> () :</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        title_ (std::string (<span class="stringliteral">&quot;&quot;</span>))</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        start_time_ = boost::posix_time::microsec_clock::local_time ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">inline</span> ~<a class="code" href="classpcl_1_1_scope_time.html">ScopeTime</a> ()</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordtype">double</span> val = this-&gt;<a class="code" href="classpcl_1_1_stop_watch.html#aa3250eecfdc5e97ae867aabdc1b5d7d2">getTime</a> ();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        std::cerr &lt;&lt; title_ &lt;&lt; <span class="stringliteral">&quot; took &quot;</span> &lt;&lt; val &lt;&lt; <span class="stringliteral">&quot;ms.\n&quot;</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      std::string title_;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  };</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_event_frequency.html">  151</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_event_frequency.html">EventFrequency</a></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_event_frequency.html#afc613ec16649c78d104d21505582f2ed">  160</a></span>&#160;      <a class="code" href="classpcl_1_1_event_frequency.html#afc613ec16649c78d104d21505582f2ed">EventFrequency</a> (<span class="keywordtype">size_t</span> window_size = 30)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      : window_size_ (window_size)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        stop_watch_.<a class="code" href="classpcl_1_1_stop_watch.html#a6959d550a6aa1e163ae572f37417bca5">reset</a> ();</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1_event_frequency.html#ac6e7577e23e0bcee0b02b42c6964f333">  167</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_event_frequency.html#ac6e7577e23e0bcee0b02b42c6964f333">event</a> ()</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        event_time_queue_.push (stop_watch_.<a class="code" href="classpcl_1_1_stop_watch.html#a13f07f01df8ea1feb8d7d5fe3a0d22eb">getTimeSeconds</a> ());</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keywordflow">if</span> (event_time_queue_.size () &gt; window_size_)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          event_time_queue_.pop ();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_event_frequency.html#a251c98fac777ad03db899f0156002be3">  176</a></span>&#160;      <a class="code" href="classpcl_1_1_event_frequency.html#a251c98fac777ad03db899f0156002be3">getFrequency</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordflow">if</span> (event_time_queue_.size () &lt; 2)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <span class="keywordflow">return</span> (0.0);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordflow">return</span> ((event_time_queue_.size () - 1) /</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                (event_time_queue_.back () - event_time_queue_.front ()));</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_event_frequency.html#a053066f172241481cb27f211c186abcf">  185</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_event_frequency.html#a053066f172241481cb27f211c186abcf">reset</a> ()</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        stop_watch_.<a class="code" href="classpcl_1_1_stop_watch.html#a6959d550a6aa1e163ae572f37417bca5">reset</a> ();</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        event_time_queue_ = std::queue&lt;double&gt; ();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <a class="code" href="classpcl_1_1_stop_watch.html">pcl::StopWatch</a> stop_watch_;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      std::queue&lt;double&gt; event_time_queue_;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> window_size_;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  };</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#ifndef MEASURE_FUNCTION_TIME</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="preprocessor">#define MEASURE_FUNCTION_TIME \</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">  ScopeTime scopeTime(__func__)</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;getTime ()</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;{</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  boost::posix_time::ptime epoch_time (boost::gregorian::date (1970, 1, 1));</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  boost::posix_time::ptime current_time = boost::posix_time::microsec_clock::local_time ();</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>((current_time - epoch_time).total_nanoseconds ()) * 1.0e-9);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;}</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="preprocessor">#ifndef DO_EVERY_TS</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="common_2time_8h.html#a9b9f34c01b03b47644c2762bf256be32">  214</a></span>&#160;<span class="preprocessor">#define DO_EVERY_TS(secs, currentTime, code) \</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">if (1) {\</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="preprocessor">  static double s_lastDone_ = 0.0; \</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="preprocessor">  double s_now_ = (currentTime); \</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="preprocessor">  if (s_lastDone_ &gt; s_now_) \</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="preprocessor">    s_lastDone_ = s_now_; \</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="preprocessor">  if ((s_now_ - s_lastDone_) &gt; (secs)) {        \</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="preprocessor">    code; \</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="preprocessor">    s_lastDone_ = s_now_; \</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="preprocessor">  }\</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="preprocessor">} else \</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="preprocessor">  (void)0</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="preprocessor">#ifndef DO_EVERY</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="common_2time_8h.html#abfe958da8833edbe74250507adc61635">  230</a></span>&#160;<span class="preprocessor">#define DO_EVERY(secs, code) \</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">  DO_EVERY_TS(secs, pcl::getTime(), code)</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;}  <span class="comment">// end namespace</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="comment"></span><span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_NORMS_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_event_frequency_html"><div class="ttname"><a href="classpcl_1_1_event_frequency.html">pcl::EventFrequency</a></div><div class="ttdoc">A helper class to measure frequency of a certain event.</div><div class="ttdef"><b>Definition:</b> time.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1_event_frequency_html_a053066f172241481cb27f211c186abcf"><div class="ttname"><a href="classpcl_1_1_event_frequency.html#a053066f172241481cb27f211c186abcf">pcl::EventFrequency::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Reset frequency computation.</div><div class="ttdef"><b>Definition:</b> time.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_event_frequency_html_a251c98fac777ad03db899f0156002be3"><div class="ttname"><a href="classpcl_1_1_event_frequency.html#a251c98fac777ad03db899f0156002be3">pcl::EventFrequency::getFrequency</a></div><div class="ttdeci">double getFrequency() const</div><div class="ttdoc">Retrieve the estimated frequency.</div><div class="ttdef"><b>Definition:</b> time.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1_event_frequency_html_ac6e7577e23e0bcee0b02b42c6964f333"><div class="ttname"><a href="classpcl_1_1_event_frequency.html#ac6e7577e23e0bcee0b02b42c6964f333">pcl::EventFrequency::event</a></div><div class="ttdeci">void event()</div><div class="ttdoc">Notifies the class that the event occured.</div><div class="ttdef"><b>Definition:</b> time.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1_event_frequency_html_afc613ec16649c78d104d21505582f2ed"><div class="ttname"><a href="classpcl_1_1_event_frequency.html#afc613ec16649c78d104d21505582f2ed">pcl::EventFrequency::EventFrequency</a></div><div class="ttdeci">EventFrequency(size_t window_size=30)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> time.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1_scope_time_html"><div class="ttname"><a href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a></div><div class="ttdoc">Class to measure the time spent in a scope</div><div class="ttdef"><b>Definition:</b> time.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_stop_watch_html"><div class="ttname"><a href="classpcl_1_1_stop_watch.html">pcl::StopWatch</a></div><div class="ttdoc">Simple stopwatch.</div><div class="ttdef"><b>Definition:</b> time.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1_stop_watch_html_a13f07f01df8ea1feb8d7d5fe3a0d22eb"><div class="ttname"><a href="classpcl_1_1_stop_watch.html#a13f07f01df8ea1feb8d7d5fe3a0d22eb">pcl::StopWatch::getTimeSeconds</a></div><div class="ttdeci">double getTimeSeconds()</div><div class="ttdoc">Retrieve the time in seconds spent since the last call to reset().</div><div class="ttdef"><b>Definition:</b> time.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1_stop_watch_html_a4e0614b397b99979ad45a18e89beeab4"><div class="ttname"><a href="classpcl_1_1_stop_watch.html#a4e0614b397b99979ad45a18e89beeab4">pcl::StopWatch::~StopWatch</a></div><div class="ttdeci">virtual ~StopWatch()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> time.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1_stop_watch_html_a6959d550a6aa1e163ae572f37417bca5"><div class="ttname"><a href="classpcl_1_1_stop_watch.html#a6959d550a6aa1e163ae572f37417bca5">pcl::StopWatch::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Reset the stopwatch to 0.</div><div class="ttdef"><b>Definition:</b> time.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1_stop_watch_html_aa3250eecfdc5e97ae867aabdc1b5d7d2"><div class="ttname"><a href="classpcl_1_1_stop_watch.html#aa3250eecfdc5e97ae867aabdc1b5d7d2">pcl::StopWatch::getTime</a></div><div class="ttdeci">double getTime()</div><div class="ttdoc">Retrieve the time in milliseconds spent since the last call to reset().</div><div class="ttdef"><b>Definition:</b> time.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_stop_watch_html_aa64df4925570c287b90526cc256b10a0"><div class="ttname"><a href="classpcl_1_1_stop_watch.html#aa64df4925570c287b90526cc256b10a0">pcl::StopWatch::StopWatch</a></div><div class="ttdeci">StopWatch()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> time.h:69</div></div>
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